Title :
Containment for double-integrator multi-agent systems in heterogeneous networks
Author :
Jiahu Qin ; Wei Xing Zheng ; Huijun Gao ; Qichao Ma
Author_Institution :
Univ. of Sci. & Technol. of China, Hefei, China
Abstract :
This paper is concerned with the containment control for a group of double-integrator agents with multiple dynamic leaders communicating over heterogeneous networks, i.e., the position and velocity network topologies are modeled by different graphs. Different containment control algorithms are proposed and analyzed for the two cases that the leaders move with the same constant velocity and the same time-varying velocity, respectively. For the former case the sufficient conditions provided for guaranteeing the containment control are structural and thus easy to verify. Though the conditions proposed for the latter case that leaders move with time-varying velocity are algebraic, such algebraic conditions can be satisfied if the position and velocity network topologies among the follower agents are undirected.
Keywords :
algebra; graph theory; multi-agent systems; time-varying systems; algebraic conditions; constant velocity; containment control algorithms; double-integrator multi-agent systems; follower agents; graphs; heterogeneous networks; multiple dynamic leaders; position topologies; time-varying velocity; velocity network topologies; Algorithm design and analysis; Educational institutions; Eigenvalues and eigenfunctions; Heuristic algorithms; Network topology; Symmetric matrices; Vectors;
Conference_Titel :
Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on
Conference_Location :
Los Angeles, CA
Print_ISBN :
978-1-4799-7746-8
DOI :
10.1109/CDC.2014.7040357